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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<div class="title">camera.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CALICO_SENSORS_CAMERA_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CALICO_SENSORS_CAMERA_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;absl/container/flat_hash_map.h&quot;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;absl/container/flat_hash_set.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;absl/status/status.h&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;absl/strings/string_view.h&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;calico/sensors/sensor_base.h&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;calico/sensors/camera_models.h&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;calico/trajectory.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;calico/typedefs.h&quot;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;ceres/problem.h&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;Eigen/Dense&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecalico_1_1sensors.html">calico::sensors</a> {</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1CameraObservationId.html">   24</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html">CameraObservationId</a> {</div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1CameraObservationId.html#ad4a085e4a9e81a36f6eae85c83950111">   26</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#ad4a085e4a9e81a36f6eae85c83950111">stamp</a>;</div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1CameraObservationId.html#adf9f38c7adfc1bbe7eee325141b3a5c9">   28</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#adf9f38c7adfc1bbe7eee325141b3a5c9">image_id</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1CameraObservationId.html#a1f3c303846cb1a133cc2a2a73c7e5085">   32</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#a1f3c303846cb1a133cc2a2a73c7e5085">model_id</a>;</div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1CameraObservationId.html#a99474c00f48123bd2e616065d45da68d">   36</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#a99474c00f48123bd2e616065d45da68d">feature_id</a>;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> H&gt;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">friend</span> H AbslHashValue(H h, <span class="keyword">const</span> <a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html">CameraObservationId</a>&amp; <span class="keywordtype">id</span>) {</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">return</span> H::combine(std::move(h), <span class="keywordtype">id</span>.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#ad4a085e4a9e81a36f6eae85c83950111">stamp</a>, <span class="keywordtype">id</span>.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#adf9f38c7adfc1bbe7eee325141b3a5c9">image_id</a>, <span class="keywordtype">id</span>.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#a1f3c303846cb1a133cc2a2a73c7e5085">model_id</a>,</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                      <span class="keywordtype">id</span>.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#a99474c00f48123bd2e616065d45da68d">feature_id</a>);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">friend</span> <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html">CameraObservationId</a>&amp; lhs,</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                         <span class="keyword">const</span> <a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html">CameraObservationId</a>&amp; rhs) {</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordflow">return</span> (lhs.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#ad4a085e4a9e81a36f6eae85c83950111">stamp</a> == rhs.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#ad4a085e4a9e81a36f6eae85c83950111">stamp</a> &amp;&amp;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;            lhs.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#adf9f38c7adfc1bbe7eee325141b3a5c9">image_id</a> == rhs.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#adf9f38c7adfc1bbe7eee325141b3a5c9">image_id</a> &amp;&amp;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;            lhs.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#a1f3c303846cb1a133cc2a2a73c7e5085">model_id</a> == rhs.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#a1f3c303846cb1a133cc2a2a73c7e5085">model_id</a> &amp;&amp;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;            lhs.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#a99474c00f48123bd2e616065d45da68d">feature_id</a> == rhs.<a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html#a99474c00f48123bd2e616065d45da68d">feature_id</a>);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  }</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;};</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">// Camera measurement type.</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1CameraMeasurement.html">   53</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcalico_1_1sensors_1_1CameraMeasurement.html">CameraMeasurement</a> {</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1CameraMeasurement.html#a2656a2208e95c04a1c87ee10205cc34d">   55</a></span>&#160;  Eigen::Vector2d <a class="code" href="structcalico_1_1sensors_1_1CameraMeasurement.html#a2656a2208e95c04a1c87ee10205cc34d">pixel</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1CameraMeasurement.html#ac36411eceddfeee3f99fd79d5ce70747">   57</a></span>&#160;  <a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html">CameraObservationId</a> <a class="code" href="structcalico_1_1sensors_1_1CameraMeasurement.html#ac36411eceddfeee3f99fd79d5ce70747">id</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;};</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1Camera.html">   62</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1Camera.html">Camera</a> : <span class="keyword">public</span> <a class="code" href="classcalico_1_1sensors_1_1Sensor.html">Sensor</a> {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">explicit</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html">Camera</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1Camera.html">Camera</a>(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html">Camera</a>&amp;) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1Camera.html">Camera</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html">Camera</a>&amp;) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  ~<a class="code" href="classcalico_1_1sensors_1_1Camera.html">Camera</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a446c4472199355503ca2b663ce581444">SetName</a>(<span class="keyword">const</span> std::string&amp; name) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">const</span> std::string&amp; <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a02dbe718f246c469e6973d80f508ad50">GetName</a>() <span class="keyword">const</span> <span class="keyword">final</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a54e98ce1b88ddcfcc1853e7d6c95a2d9">SetExtrinsics</a>(<span class="keyword">const</span> <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a>&amp; T_sensorrig_sensor) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a>&amp; <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a8db09cca224532a6c4ad0bc61d3d8c1f">GetExtrinsics</a>() <span class="keyword">const</span> <span class="keyword">final</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Camera.html#ab917354fc8b654b807f92cac6f635f48">SetIntrinsics</a>(<span class="keyword">const</span> Eigen::VectorXd&amp; intrinsics) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keyword">const</span> Eigen::VectorXd&amp; <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a22485fdb870293142109023196de4189">GetIntrinsics</a>() <span class="keyword">const</span> <span class="keyword">final</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Camera.html#addccd575e2e85e846b6b5197d007d12a">SetLatency</a>(<span class="keywordtype">double</span> latency) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a8096777057130a9cc5f49459fd8b60a5">GetLatency</a>() <span class="keyword">const</span> <span class="keyword">final</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a3eb0820967e0be7ca022d50702434a3a">EnableExtrinsicsEstimation</a>(<span class="keywordtype">bool</span> enable) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a474b22e15bb9abb686fb7ec2217c72df">EnableIntrinsicsEstimation</a>(<span class="keywordtype">bool</span> enable) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a11089f69528b17f77a53101c98d32b26">EnableLatencyEstimation</a>(<span class="keywordtype">bool</span> enable) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a9c9b553f27cf9bec5bf7a246a880e22b">SetLossFunction</a>(<a class="code" href="namespacecalico_1_1utils.html#aacede3df540b75d2e131f113380f0ce9">utils::LossFunctionType</a> loss, <span class="keywordtype">double</span> scale) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  absl::StatusOr&lt;int&gt; <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a716548611fcd3de2fa5da2ae04c3d951">AddParametersToProblem</a>(ceres::Problem&amp; problem) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  absl::StatusOr&lt;int&gt; <a class="code" href="classcalico_1_1sensors_1_1Camera.html#ade8c66c0e1e8a1e18b8a42ebeec5b2f2">AddResidualsToProblem</a>(</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      ceres::Problem &amp; problem,</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="classcalico_1_1Trajectory.html">Trajectory</a>&amp; sensorrig_trajectory,</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <a class="code" href="classcalico_1_1WorldModel.html">WorldModel</a>&amp; world_model) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Camera.html#aa87667f9855c3777686456a94e7ca341">SetMeasurementNoise</a>(<span class="keywordtype">double</span> sigma) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a9baffab8e9436f340279bababa7647eb">UpdateResiduals</a>(ceres::Problem&amp; problem) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#ac3dd051f602022c4ef6fbed017097cb8">ClearResidualInfo</a>() <span class="keyword">final</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  absl::StatusOr&lt;std::vector&lt;CameraMeasurement&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1Camera.html#ae0e9befdb75b27e43995b5f1761be065">Project</a>(</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">const</span> std::vector&lt;double&gt;&amp; interp_times,</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">const</span> <a class="code" href="classcalico_1_1Trajectory.html">Trajectory</a>&amp; sensorrig_trajectory,</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">const</span> <a class="code" href="classcalico_1_1WorldModel.html">WorldModel</a>&amp; world_model) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Camera.html#ace7ca82c229cd4de0e058e3a0456bb6c">SetModel</a>(<a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> camera_model);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a027ef318bd657e7872ab2b83f1b37806">GetModel</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a9dcd06c38f567d1f799a88485e27133a">AddMeasurement</a>(<span class="keyword">const</span> <a class="code" href="structcalico_1_1sensors_1_1CameraMeasurement.html">CameraMeasurement</a>&amp; measurement);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a08c7d495c75347af3c3ab52da404651b">AddMeasurements</a>(</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">const</span> std::vector&lt;CameraMeasurement&gt;&amp; measurements);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keyword">const</span> absl::flat_hash_map&lt;CameraObservationId, CameraMeasurement&gt;&amp;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a1eb7ef5bfad613058b91c6c2e64d3577">GetMeasurementIdToMeasurement</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  absl::StatusOr&lt;std::vector&lt;std::pair&lt;CameraMeasurement, Eigen::Vector2d&gt;&gt;&gt;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a968e1e41652bc4b995167f46d25158d3">GetMeasurementResidualPairs</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a5759c8a34c761bffb4395efa4cf21feb">MarkOutlierById</a>(<span class="keyword">const</span> <a class="code" href="structcalico_1_1sensors_1_1CameraObservationId.html">CameraObservationId</a>&amp; <span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a03545dedcba42332b8bff030313cad72">MarkOutliersById</a>(<span class="keyword">const</span> std::vector&lt;CameraObservationId&gt;&amp; ids);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a5325f0d32408e6943dbff9ecc21f4b85">ClearOutliersList</a>();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#af64ff916c26dc115d77dc26d8291f6da">ClearMeasurements</a>();</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1Camera.html#a50b01a329665dae5288b7782c9f92096">NumberOfMeasurements</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  std::string name_;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordtype">bool</span> intrinsics_enabled_;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordtype">bool</span> extrinsics_enabled_;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordtype">bool</span> latency_enabled_;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  std::unique_ptr&lt;CameraModel&gt; camera_model_;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a> T_sensorrig_sensor_;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  Eigen::VectorXd intrinsics_;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordtype">double</span> latency_ = 0.0;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordtype">double</span> sigma_ = 1.0;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <a class="code" href="namespacecalico_1_1utils.html#aacede3df540b75d2e131f113380f0ce9">utils::LossFunctionType</a> loss_function_;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordtype">double</span> loss_scale_ = 1.0;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  absl::flat_hash_map&lt;CameraObservationId, CameraMeasurement&gt;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      id_to_measurement_;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  absl::flat_hash_map&lt;CameraObservationId, Eigen::Vector2d&gt; id_to_residual_;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  absl::flat_hash_map&lt;CameraObservationId, ceres::ResidualBlockId&gt;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      id_to_residual_id_;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  absl::flat_hash_set&lt;CameraObservationId&gt; outlier_ids_;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;};</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;} <span class="comment">// namespace calico::sensors</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// CALICO_SENSORS_CAMERA_H_</span></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html"><div class="ttname"><a href="classcalico_1_1Pose3.html">calico::Pose3&lt; double &gt;</a></div></div>
<div class="ttc" id="aclasscalico_1_1Trajectory_html"><div class="ttname"><a href="classcalico_1_1Trajectory.html">calico::Trajectory</a></div><div class="ttdef"><b>Definition:</b> trajectory.h:25</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html"><div class="ttname"><a href="classcalico_1_1WorldModel.html">calico::WorldModel</a></div><div class="ttdef"><b>Definition:</b> world_model.h:73</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html">calico::sensors::Camera</a></div><div class="ttdoc">Camera class.</div><div class="ttdef"><b>Definition:</b> camera.h:62</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a027ef318bd657e7872ab2b83f1b37806"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a027ef318bd657e7872ab2b83f1b37806">calico::sensors::Camera::GetModel</a></div><div class="ttdeci">CameraIntrinsicsModel GetModel() const</div><div class="ttdoc">Getter for the camera model.</div><div class="ttdef"><b>Definition:</b> camera.cpp:221</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a02dbe718f246c469e6973d80f508ad50"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a02dbe718f246c469e6973d80f508ad50">calico::sensors::Camera::GetName</a></div><div class="ttdeci">const std::string &amp; GetName() const final</div><div class="ttdoc">Getter for name.</div><div class="ttdef"><b>Definition:</b> camera.cpp:12</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a03545dedcba42332b8bff030313cad72"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a03545dedcba42332b8bff030313cad72">calico::sensors::Camera::MarkOutliersById</a></div><div class="ttdeci">absl::Status MarkOutliersById(const std::vector&lt; CameraObservationId &gt; &amp;ids)</div><div class="ttdoc">Tag multiple measurements as outliers by measurement ID.</div><div class="ttdef"><b>Definition:</b> camera.cpp:292</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a08c7d495c75347af3c3ab52da404651b"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a08c7d495c75347af3c3ab52da404651b">calico::sensors::Camera::AddMeasurements</a></div><div class="ttdeci">absl::Status AddMeasurements(const std::vector&lt; CameraMeasurement &gt; &amp;measurements)</div><div class="ttdoc">Add multiple measurements to the measurement list.</div><div class="ttdef"><b>Definition:</b> camera.cpp:238</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a11089f69528b17f77a53101c98d32b26"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a11089f69528b17f77a53101c98d32b26">calico::sensors::Camera::EnableLatencyEstimation</a></div><div class="ttdeci">void EnableLatencyEstimation(bool enable) final</div><div class="ttdoc">Enable or disable latency estimation.</div><div class="ttdef"><b>Definition:</b> camera.cpp:58</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a1eb7ef5bfad613058b91c6c2e64d3577"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a1eb7ef5bfad613058b91c6c2e64d3577">calico::sensors::Camera::GetMeasurementIdToMeasurement</a></div><div class="ttdeci">const absl::flat_hash_map&lt; CameraObservationId, CameraMeasurement &gt; &amp; GetMeasurementIdToMeasurement() const</div><div class="ttdef"><b>Definition:</b> camera.cpp:254</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a22485fdb870293142109023196de4189"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a22485fdb870293142109023196de4189">calico::sensors::Camera::GetIntrinsics</a></div><div class="ttdeci">const Eigen::VectorXd &amp; GetIntrinsics() const final</div><div class="ttdoc">Getter for intrinsics parameters.</div><div class="ttdef"><b>Definition:</b> camera.cpp:37</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a3eb0820967e0be7ca022d50702434a3a"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a3eb0820967e0be7ca022d50702434a3a">calico::sensors::Camera::EnableExtrinsicsEstimation</a></div><div class="ttdeci">void EnableExtrinsicsEstimation(bool enable) final</div><div class="ttdoc">Enable or disable extrinsics estimation.</div><div class="ttdef"><b>Definition:</b> camera.cpp:50</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a446c4472199355503ca2b663ce581444"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a446c4472199355503ca2b663ce581444">calico::sensors::Camera::SetName</a></div><div class="ttdeci">void SetName(const std::string &amp;name) final</div><div class="ttdoc">Setter for name.</div><div class="ttdef"><b>Definition:</b> camera.cpp:9</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a474b22e15bb9abb686fb7ec2217c72df"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a474b22e15bb9abb686fb7ec2217c72df">calico::sensors::Camera::EnableIntrinsicsEstimation</a></div><div class="ttdeci">void EnableIntrinsicsEstimation(bool enable) final</div><div class="ttdoc">Enable or disable intrinsics estimation.</div><div class="ttdef"><b>Definition:</b> camera.cpp:54</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a50b01a329665dae5288b7782c9f92096"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a50b01a329665dae5288b7782c9f92096">calico::sensors::Camera::NumberOfMeasurements</a></div><div class="ttdeci">int NumberOfMeasurements() const</div><div class="ttdoc">Get current number of measurements stored.</div><div class="ttdef"><b>Definition:</b> camera.cpp:310</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a5325f0d32408e6943dbff9ecc21f4b85"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a5325f0d32408e6943dbff9ecc21f4b85">calico::sensors::Camera::ClearOutliersList</a></div><div class="ttdeci">void ClearOutliersList()</div><div class="ttdoc">Clear outliers list.</div><div class="ttdef"><b>Definition:</b> camera.cpp:299</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a54e98ce1b88ddcfcc1853e7d6c95a2d9"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a54e98ce1b88ddcfcc1853e7d6c95a2d9">calico::sensors::Camera::SetExtrinsics</a></div><div class="ttdeci">void SetExtrinsics(const Pose3d &amp;T_sensorrig_sensor) final</div><div class="ttdoc">Setter for extrinsics parameters.</div><div class="ttdef"><b>Definition:</b> camera.cpp:14</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a5759c8a34c761bffb4395efa4cf21feb"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a5759c8a34c761bffb4395efa4cf21feb">calico::sensors::Camera::MarkOutlierById</a></div><div class="ttdeci">absl::Status MarkOutlierById(const CameraObservationId &amp;id)</div><div class="ttdoc">Tag a single measurement as an outlier by its measurement ID.</div><div class="ttdef"><b>Definition:</b> camera.cpp:281</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a716548611fcd3de2fa5da2ae04c3d951"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a716548611fcd3de2fa5da2ae04c3d951">calico::sensors::Camera::AddParametersToProblem</a></div><div class="ttdeci">absl::StatusOr&lt; int &gt; AddParametersToProblem(ceres::Problem &amp;problem) final</div><div class="ttdoc">Add this sensor's calibration parameters to the ceres problem.</div><div class="ttdef"><b>Definition:</b> camera.cpp:92</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a8096777057130a9cc5f49459fd8b60a5"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a8096777057130a9cc5f49459fd8b60a5">calico::sensors::Camera::GetLatency</a></div><div class="ttdeci">double GetLatency() const final</div><div class="ttdoc">Getter for sensor latency.</div><div class="ttdef"><b>Definition:</b> camera.cpp:46</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a8db09cca224532a6c4ad0bc61d3d8c1f"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a8db09cca224532a6c4ad0bc61d3d8c1f">calico::sensors::Camera::GetExtrinsics</a></div><div class="ttdeci">const Pose3d &amp; GetExtrinsics() const final</div><div class="ttdoc">Getter for extrinsics parameters.</div><div class="ttdef"><b>Definition:</b> camera.cpp:18</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a968e1e41652bc4b995167f46d25158d3"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a968e1e41652bc4b995167f46d25158d3">calico::sensors::Camera::GetMeasurementResidualPairs</a></div><div class="ttdeci">absl::StatusOr&lt; std::vector&lt; std::pair&lt; CameraMeasurement, Eigen::Vector2d &gt; &gt; &gt; GetMeasurementResidualPairs() const</div><div class="ttdoc">Returns a vector of measurement-residual pairs.</div><div class="ttdef"><b>Definition:</b> camera.cpp:259</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a9baffab8e9436f340279bababa7647eb"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a9baffab8e9436f340279bababa7647eb">calico::sensors::Camera::UpdateResiduals</a></div><div class="ttdeci">absl::Status UpdateResiduals(ceres::Problem &amp;problem) final</div><div class="ttdoc">Update residuals for this sensor.</div><div class="ttdef"><b>Definition:</b> camera.cpp:70</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a9c9b553f27cf9bec5bf7a246a880e22b"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a9c9b553f27cf9bec5bf7a246a880e22b">calico::sensors::Camera::SetLossFunction</a></div><div class="ttdeci">void SetLossFunction(utils::LossFunctionType loss, double scale) final</div><div class="ttdoc">Setter for loss function and scale.</div><div class="ttdef"><b>Definition:</b> camera.cpp:87</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_a9dcd06c38f567d1f799a88485e27133a"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#a9dcd06c38f567d1f799a88485e27133a">calico::sensors::Camera::AddMeasurement</a></div><div class="ttdeci">absl::Status AddMeasurement(const CameraMeasurement &amp;measurement)</div><div class="ttdoc">Add a single camera measurement to the measurement list.</div><div class="ttdef"><b>Definition:</b> camera.cpp:226</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_aa87667f9855c3777686456a94e7ca341"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#aa87667f9855c3777686456a94e7ca341">calico::sensors::Camera::SetMeasurementNoise</a></div><div class="ttdeci">absl::Status SetMeasurementNoise(double sigma) final</div><div class="ttdoc">Set the measurement noise .</div><div class="ttdef"><b>Definition:</b> camera.cpp:62</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_ab917354fc8b654b807f92cac6f635f48"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#ab917354fc8b654b807f92cac6f635f48">calico::sensors::Camera::SetIntrinsics</a></div><div class="ttdeci">absl::Status SetIntrinsics(const Eigen::VectorXd &amp;intrinsics) final</div><div class="ttdoc">Setter for intrinsics parameters.</div><div class="ttdef"><b>Definition:</b> camera.cpp:22</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_ac3dd051f602022c4ef6fbed017097cb8"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#ac3dd051f602022c4ef6fbed017097cb8">calico::sensors::Camera::ClearResidualInfo</a></div><div class="ttdeci">void ClearResidualInfo() final</div><div class="ttdoc">Clear all stored info about residuals.</div><div class="ttdef"><b>Definition:</b> camera.cpp:82</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_ace7ca82c229cd4de0e058e3a0456bb6c"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#ace7ca82c229cd4de0e058e3a0456bb6c">calico::sensors::Camera::SetModel</a></div><div class="ttdeci">absl::Status SetModel(CameraIntrinsicsModel camera_model)</div><div class="ttdoc">Setter for the camera model.</div><div class="ttdef"><b>Definition:</b> camera.cpp:210</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_addccd575e2e85e846b6b5197d007d12a"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#addccd575e2e85e846b6b5197d007d12a">calico::sensors::Camera::SetLatency</a></div><div class="ttdeci">absl::Status SetLatency(double latency) final</div><div class="ttdoc">Setter for sensor latency.</div><div class="ttdef"><b>Definition:</b> camera.cpp:41</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_ade8c66c0e1e8a1e18b8a42ebeec5b2f2"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#ade8c66c0e1e8a1e18b8a42ebeec5b2f2">calico::sensors::Camera::AddResidualsToProblem</a></div><div class="ttdeci">absl::StatusOr&lt; int &gt; AddResidualsToProblem(ceres::Problem &amp;problem, Trajectory &amp;sensorrig_trajectory, WorldModel &amp;world_model) final</div><div class="ttdoc">Contribue this sensor's residuals to the ceres problem.</div><div class="ttdef"><b>Definition:</b> camera.cpp:115</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_ae0e9befdb75b27e43995b5f1761be065"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#ae0e9befdb75b27e43995b5f1761be065">calico::sensors::Camera::Project</a></div><div class="ttdeci">absl::StatusOr&lt; std::vector&lt; CameraMeasurement &gt; &gt; Project(const std::vector&lt; double &gt; &amp;interp_times, const Trajectory &amp;sensorrig_trajectory, const WorldModel &amp;world_model) const</div><div class="ttdoc">Compute synthetic camera measurements given a Trajectory and WorldModel.</div><div class="ttdef"><b>Definition:</b> camera.cpp:155</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Camera_html_af64ff916c26dc115d77dc26d8291f6da"><div class="ttname"><a href="classcalico_1_1sensors_1_1Camera.html#af64ff916c26dc115d77dc26d8291f6da">calico::sensors::Camera::ClearMeasurements</a></div><div class="ttdeci">void ClearMeasurements()</div><div class="ttdoc">Clear all measurements.</div><div class="ttdef"><b>Definition:</b> camera.cpp:303</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Sensor_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1Sensor.html">calico::sensors::Sensor</a></div><div class="ttdef"><b>Definition:</b> sensor_base.h:22</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html"><div class="ttname"><a href="namespacecalico_1_1sensors.html">calico::sensors</a></div><div class="ttdoc">Sensors namespace.</div><div class="ttdef"><b>Definition:</b> accelerometer.cpp:8</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2f"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">calico::sensors::CameraIntrinsicsModel</a></div><div class="ttdeci">CameraIntrinsicsModel</div><div class="ttdoc">Camera model types.</div><div class="ttdef"><b>Definition:</b> camera_models.h:16</div></div>
<div class="ttc" id="anamespacecalico_1_1utils_html_aacede3df540b75d2e131f113380f0ce9"><div class="ttname"><a href="namespacecalico_1_1utils.html#aacede3df540b75d2e131f113380f0ce9">calico::utils::LossFunctionType</a></div><div class="ttdeci">LossFunctionType</div><div class="ttdef"><b>Definition:</b> optimization_utils.h:15</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1CameraMeasurement_html"><div class="ttname"><a href="structcalico_1_1sensors_1_1CameraMeasurement.html">calico::sensors::CameraMeasurement</a></div><div class="ttdef"><b>Definition:</b> camera.h:53</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1CameraMeasurement_html_a2656a2208e95c04a1c87ee10205cc34d"><div class="ttname"><a href="structcalico_1_1sensors_1_1CameraMeasurement.html#a2656a2208e95c04a1c87ee10205cc34d">calico::sensors::CameraMeasurement::pixel</a></div><div class="ttdeci">Eigen::Vector2d pixel</div><div class="ttdoc">Pixel location of the observed feature.</div><div class="ttdef"><b>Definition:</b> camera.h:55</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1CameraMeasurement_html_ac36411eceddfeee3f99fd79d5ce70747"><div class="ttname"><a href="structcalico_1_1sensors_1_1CameraMeasurement.html#ac36411eceddfeee3f99fd79d5ce70747">calico::sensors::CameraMeasurement::id</a></div><div class="ttdeci">CameraObservationId id</div><div class="ttdoc">Id of this observation.</div><div class="ttdef"><b>Definition:</b> camera.h:57</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1CameraObservationId_html"><div class="ttname"><a href="structcalico_1_1sensors_1_1CameraObservationId.html">calico::sensors::CameraObservationId</a></div><div class="ttdef"><b>Definition:</b> camera.h:24</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1CameraObservationId_html_a1f3c303846cb1a133cc2a2a73c7e5085"><div class="ttname"><a href="structcalico_1_1sensors_1_1CameraObservationId.html#a1f3c303846cb1a133cc2a2a73c7e5085">calico::sensors::CameraObservationId::model_id</a></div><div class="ttdeci">int model_id</div><div class="ttdoc">RigidBody model id. Equivalent to RigidBody.id field of a RigidBody or kLandmarkFrameId if this measu...</div><div class="ttdef"><b>Definition:</b> camera.h:32</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1CameraObservationId_html_a99474c00f48123bd2e616065d45da68d"><div class="ttname"><a href="structcalico_1_1sensors_1_1CameraObservationId.html#a99474c00f48123bd2e616065d45da68d">calico::sensors::CameraObservationId::feature_id</a></div><div class="ttdeci">int feature_id</div><div class="ttdoc">Feature id. Equivalent to the key field of RigidBody.model_definition of RigidBody or Landmark....</div><div class="ttdef"><b>Definition:</b> camera.h:36</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1CameraObservationId_html_ad4a085e4a9e81a36f6eae85c83950111"><div class="ttname"><a href="structcalico_1_1sensors_1_1CameraObservationId.html#ad4a085e4a9e81a36f6eae85c83950111">calico::sensors::CameraObservationId::stamp</a></div><div class="ttdeci">double stamp</div><div class="ttdoc">Timestamp in seconds.</div><div class="ttdef"><b>Definition:</b> camera.h:26</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1CameraObservationId_html_adf9f38c7adfc1bbe7eee325141b3a5c9"><div class="ttname"><a href="structcalico_1_1sensors_1_1CameraObservationId.html#adf9f38c7adfc1bbe7eee325141b3a5c9">calico::sensors::CameraObservationId::image_id</a></div><div class="ttdeci">int image_id</div><div class="ttdoc">Image id.</div><div class="ttdef"><b>Definition:</b> camera.h:28</div></div>
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